Merge pull request #3536 from DonLakeFlyer/Testing3.0Fixes

Testing 3.0 fixes

src/AutoPilotPlugins/APM/APMCompassCal.cc

@@ -579,7 +579,11 @@ APMCompassCal::APMCompassCal(void)
 
 APMCompassCal::~APMCompassCal()
 {
-
+    if (_calWorkerThread) {
+        _calWorkerThread->terminate();
+        // deleteLater so it happens on correct thread
+        _calWorkerThread->deleteLater();
+    }
 }
 
 void APMCompassCal::setVehicle(Vehicle* vehicle)
@@ -601,7 +605,7 @@ void APMCompassCal::startCalibration(void)
     // Simulate a start message
     _emitVehicleTextMessage("[cal] calibration started: mag");
 
-    _calWorkerThread = new CalWorkerThread(_vehicle, this);
+    _calWorkerThread = new CalWorkerThread(_vehicle);
     connect(_calWorkerThread, &CalWorkerThread::vehicleTextMessage, this, &APMCompassCal::vehicleTextMessage);
 
     // Clear the offset parameters so we get raw data

src/AutoPilotPlugins/APM/APMSensorsComponent.qml

@@ -169,6 +169,14 @@ QGCView {
         }
     }
 
+    Component.onCompleted: {
+        var usingUDP = controller.usingUDPLink()
+        if (usingUDP) {
+            console.log("onUsingUDPLink")
+            showMessage("Sensor Calibration", "Performing sensor calibration over a WiFi connection is known to be unreliable. You should disconnect and perform calibration using a direct USB connection instead.", StandardButton.Ok)
+        }
+    }
+
     QGCPalette { id: qgcPal; colorGroupEnabled: panel.enabled }
 
     Component {
@@ -450,12 +458,17 @@ QGCView {
                 Flow {
                     anchors.topMargin:  ScreenTools.defaultFontPixelWidth
                     anchors.top:        orientationCalAreaHelpText.bottom
-                    anchors.left:       orientationCalAreaHelpText.left
-                    width:              parent.width
-                    height:             parent.height - orientationCalAreaHelpText.implicitHeight
+                    anchors.bottom:     parent.bottom
+                    anchors.left:       parent.left
+                    anchors.right:      parent.right
                     spacing:            ScreenTools.defaultFontPixelWidth
 
+                    property real indicatorWidth:   (width / 3) - (spacing * 2)
+                    property real indicatorHeight:  (height / 2) - spacing
+
                     VehicleRotationCal {
+                        width:              parent.indicatorWidth
+                        height:             parent.indicatorHeight
                         visible:            controller.orientationCalDownSideVisible
                         calValid:           controller.orientationCalDownSideDone
                         calInProgress:      controller.orientationCalDownSideInProgress
@@ -463,6 +476,8 @@ QGCView {
                         imageSource:        controller.orientationCalDownSideRotate ? "qrc:///qmlimages/VehicleDownRotate.png" : "qrc:///qmlimages/VehicleDown.png"
                     }
                     VehicleRotationCal {
+                        width:              parent.indicatorWidth
+                        height:             parent.indicatorHeight
                         visible:            controller.orientationCalUpsideDownSideVisible
                         calValid:           controller.orientationCalUpsideDownSideDone
                         calInProgress:      controller.orientationCalUpsideDownSideInProgress
@@ -470,6 +485,8 @@ QGCView {
                         imageSource:        controller.orientationCalUpsideDownSideRotate ? "qrc:///qmlimages/VehicleUpsideDownRotate.png" : "qrc:///qmlimages/VehicleUpsideDown.png"
                     }
                     VehicleRotationCal {
+                        width:              parent.indicatorWidth
+                        height:             parent.indicatorHeight
                         visible:            controller.orientationCalNoseDownSideVisible
                         calValid:           controller.orientationCalNoseDownSideDone
                         calInProgress:      controller.orientationCalNoseDownSideInProgress
@@ -477,6 +494,8 @@ QGCView {
                         imageSource:        controller.orientationCalNoseDownSideRotate ? "qrc:///qmlimages/VehicleNoseDownRotate.png" : "qrc:///qmlimages/VehicleNoseDown.png"
                     }
                     VehicleRotationCal {
+                        width:              parent.indicatorWidth
+                        height:             parent.indicatorHeight
                         visible:            controller.orientationCalTailDownSideVisible
                         calValid:           controller.orientationCalTailDownSideDone
                         calInProgress:      controller.orientationCalTailDownSideInProgress
@@ -484,6 +503,8 @@ QGCView {
                         imageSource:        controller.orientationCalTailDownSideRotate ? "qrc:///qmlimages/VehicleTailDownRotate.png" : "qrc:///qmlimages/VehicleTailDown.png"
                     }
                     VehicleRotationCal {
+                        width:              parent.indicatorWidth
+                        height:             parent.indicatorHeight
                         visible:            controller.orientationCalLeftSideVisible
                         calValid:           controller.orientationCalLeftSideDone
                         calInProgress:      controller.orientationCalLeftSideInProgress
@@ -491,6 +512,8 @@ QGCView {
                         imageSource:        controller.orientationCalLeftSideRotate ? "qrc:///qmlimages/VehicleLeftRotate.png" : "qrc:///qmlimages/VehicleLeft.png"
                     }
                     VehicleRotationCal {
+                        width:              parent.indicatorWidth
+                        height:             parent.indicatorHeight
                         visible:            controller.orientationCalRightSideVisible
                         calValid:           controller.orientationCalRightSideDone
                         calInProgress:      controller.orientationCalRightSideInProgress

src/AutoPilotPlugins/APM/APMSensorsComponentController.cc

@@ -464,3 +464,8 @@ bool APMSensorsComponentController::accelSetupNeeded(void) const
 {
     return _sensorsComponent->accelSetupNeeded();
 }
+
+bool APMSensorsComponentController::usingUDPLink(void)
+{
+    return _vehicle->priorityLink()->getLinkConfiguration()->type() == LinkConfiguration::TypeUdp;
+}

src/AutoPilotPlugins/APM/APMSensorsComponentController.h

@@ -77,6 +77,7 @@ public:
     Q_INVOKABLE void calibrateAccel(void);
     Q_INVOKABLE void cancelCalibration(void);
     Q_INVOKABLE void nextClicked(void);
+    Q_INVOKABLE bool usingUDPLink(void);
 
     bool compassSetupNeeded(void) const;
     bool accelSetupNeeded(void) const;

src/AutoPilotPlugins/PX4/PX4SimpleFlightModesController.cc

@@ -51,6 +51,12 @@ void PX4SimpleFlightModesController::_rcChannelsChanged(int channelCount, int pw
     }
 
     int flightModeChannel = pFact->rawValue().toInt() - 1;
+    if (flightModeChannel == -1) {
+        // Flight mode channel not set, can't track active flight mode
+        _activeFlightMode = 0;
+        emit activeFlightModeChanged(_activeFlightMode);
+        return;
+    }
 
     pFact = getParameterFact(-1, QString("RC%1_REV").arg(flightModeChannel + 1));
     if(!pFact) {

src/AutoPilotPlugins/PX4/SensorsComponent.qml

@@ -30,7 +30,7 @@ QGCView {
     readonly property string boardRotationText: qsTr("If the orientation is in the direction of flight, select ROTATION_NONE.")
     readonly property string compassRotationText: qsTr("If the orientation is in the direction of flight, select ROTATION_NONE.")
 
-    readonly property string compassHelp:   qsTr("For Compass calibration you will need to rotate your vehicle through a number of positions. Most users prefer to do this wirelessly with the telemetry link.")
+    readonly property string compassHelp:   qsTr("For Compass calibration you will need to rotate your vehicle through a number of positions.")
     readonly property string gyroHelp:      qsTr("For Gyroscope calibration you will need to place your vehicle on a surface and leave it still.")
     readonly property string accelHelp:     qsTr("For Accelerometer calibration you will need to place your vehicle on all six sides on a perfectly level surface and hold it still in each orientation for a few seconds.")
     readonly property string levelHelp:     qsTr("To level the horizon you need to place the vehicle in its level flight position and press OK.")
@@ -170,21 +170,29 @@ QGCView {
                 }
 
                 QGCLabel {
+                    id:         boardRotationHelp
                     width:      parent.width
                     wrapMode:   Text.WordWrap
                     visible:    (preCalibrationDialogType != "airspeed") && (preCalibrationDialogType != "gyro")
                     text:       boardRotationText
                 }
 
+                Column {
+                    visible:    boardRotationHelp.visible
+                    QGCLabel {
+                        text: qsTr("Autopilot Orientation:")
+                    }
+
                     FactComboBox {
-                    width:      rotationColumnWidth
+                        id:     boardRotationCombo
+                        width:  rotationColumnWidth;
                         model:  rotations
-                    visible:    preCalibrationDialogType != "airspeed" && (preCalibrationDialogType != "gyro")
                         fact:   sens_board_rot
                     }
                 }
             }
         }
+    }
 
     Component {
         id: setOrientationsDialogComponent
@@ -454,8 +462,6 @@ QGCView {
                         anchors.bottom:     parent.bottom
                         anchors.left:       parent.left
                         anchors.right:      parent.right
-                        width:              parent.width
-                        height:             parent.height - orientationCalAreaHelpText.implicitHeight
                         spacing:            ScreenTools.defaultFontPixelWidth / 2
 
                         property real indicatorWidth:   (width / 3) - (spacing * 2)

src/FlightDisplay/FlightDisplayView.qml

@@ -223,7 +223,7 @@ QGCView {
 
         //-- Virtual Joystick
         Loader {
-            id:                         multiTouchItem
+            id:                         virtualJoystickMultiTouch
             z:                          _panel.z + 5
             width:                      parent.width  - (_flightVideoPipControl.width / 2)
             height:                     Math.min(ScreenTools.availableHeight * 0.25, ScreenTools.defaultFontPixelWidth * 16)

src/FlightDisplay/FlightDisplayViewWidgets.qml

@@ -30,6 +30,8 @@ Item {
     property var    _activeVehicle:             QGroundControl.multiVehicleManager.activeVehicle
     property bool   _isSatellite:               _mainIsMap ? (_flightMap ? _flightMap.isSatelliteMap : true) : true
     property bool   _lightWidgetBorders:        _mainIsMap ? (_flightMap ? _flightMap.isSatelliteMap : true) : true
+    property bool   _useAlternateInstruments:   QGroundControl.virtualTabletJoystick || ScreenTools.isTinyScreen
+
 
     readonly property real _margins: ScreenTools.defaultFontPixelHeight / 2
 
@@ -69,7 +71,7 @@ Item {
 
         QGCLabel {
             anchors.horizontalCenter:   parent.horizontalCenter
-            visible:                    _activeVehicle && !_activeVehicle.coordinateValid
+            visible:                    _activeVehicle && _activeVehicle.prearmError
             z:                          QGroundControl.zOrderTopMost
             color:                      mapPal.text
             font.pointSize:             ScreenTools.largeFontPointSize
@@ -94,7 +96,7 @@ Item {
         anchors.margins:        ScreenTools.defaultFontPixelHeight / 2
         anchors.right:          altitudeSlider.visible ? altitudeSlider.left : parent.right
         anchors.verticalCenter: parent.verticalCenter
-        visible:                !QGroundControl.virtualTabletJoystick
+        visible:                !_useAlternateInstruments
         size:                   getGadgetWidth()
         active:                 _activeVehicle != null
         heading:                _heading
@@ -113,8 +115,8 @@ Item {
         anchors.margins:        ScreenTools.defaultFontPixelHeight / 2
         anchors.top:            parent.top
         anchors.right:          altitudeSlider.visible ? altitudeSlider.left : parent.right
-        visible:                QGroundControl.virtualTabletJoystick
-        width:                  ScreenTools.isTinyScreen ? getGadgetWidth() * 2 : getGadgetWidth()
+        visible:                _useAlternateInstruments
+        width:                  ScreenTools.isTinyScreen ? getGadgetWidth() * 1.5 : getGadgetWidth()
         active:                 _activeVehicle != null
         heading:                _heading
         rollAngle:              _roll
@@ -128,12 +130,12 @@ Item {
     ValuesWidget {
         anchors.topMargin:          ScreenTools.defaultFontPixelHeight
         anchors.top:                instrumentGadgetAlternate.bottom
-        anchors.left:       instrumentGadgetAlternate.left
+        anchors.horizontalCenter:   instrumentGadgetAlternate.horizontalCenter
         width:                      getGadgetWidth()
         qgcView:                    parent.parent.qgcView
         textColor:                  _isSatellite ? "white" : "black"
-        visible:            QGroundControl.virtualTabletJoystick
-        maxHeight:          multiTouchItem.y - y
+        visible:                    _useAlternateInstruments
+        maxHeight:                  virtualJoystickMultiTouch.visible ? virtualJoystickMultiTouch.y - y : parent.height - anchors.margins - y
     }
 
     //-- Vertical Tool Buttons
@@ -443,27 +445,31 @@ Item {
             }
 
             Row {
-                spacing: _margins
+                spacing: _margins * 2
 
                 QGCButton {
+                    pointSize:  ScreenTools.largeFontPointSize
                     text:       (_activeVehicle && _activeVehicle.armed) ? (_activeVehicle.flying ? qsTr("Emergency Stop") : qsTr("Disarm")) :  qsTr("Arm")
                     visible:    _activeVehicle
                     onClicked:  _guidedModeBar.confirmAction(_activeVehicle.armed ? (_activeVehicle.flying ? _guidedModeBar.confirmEmergencyStop : _guidedModeBar.confirmDisarm) : _guidedModeBar.confirmArm)
                 }
 
                 QGCButton {
+                    pointSize:  ScreenTools.largeFontPointSize
                     text:       qsTr("RTL")
                     visible:    (_activeVehicle && _activeVehicle.armed) && _activeVehicle.guidedModeSupported && _activeVehicle.flying
                     onClicked:  _guidedModeBar.confirmAction(_guidedModeBar.confirmHome)
                 }
 
                 QGCButton {
+                    pointSize:  ScreenTools.largeFontPointSize
                     text:       (_activeVehicle && _activeVehicle.flying) ?  qsTr("Land"):  qsTr("Takeoff")
                     visible:    _activeVehicle && _activeVehicle.guidedModeSupported && _activeVehicle.armed
                     onClicked:  _guidedModeBar.confirmAction(_activeVehicle.flying ? _guidedModeBar.confirmLand : _guidedModeBar.confirmTakeoff)
                 }
 
                 QGCButton {
+                    pointSize:  ScreenTools.largeFontPointSize
                     text:       qsTr("Pause")
                     visible:    (_activeVehicle && _activeVehicle.armed) && _activeVehicle.pauseVehicleSupported && _activeVehicle.flying
                     onClicked:  {
@@ -473,6 +479,7 @@ Item {
                 }
 
                 QGCButton {
+                    pointSize:  ScreenTools.largeFontPointSize
                     text:       qsTr("Change Altitude")
                     visible:    (_activeVehicle && _activeVehicle.flying) && _activeVehicle.guidedModeSupported && _activeVehicle.armed
                     onClicked:  _guidedModeBar.confirmAction(_guidedModeBar.confirmChangeAlt)
@@ -493,7 +500,7 @@ Item {
         anchors.bottomMargin:       _margins
         anchors.bottom:             parent.bottom
         anchors.horizontalCenter:   parent.horizontalCenter
-        height:                     ScreenTools.defaultFontPixelHeight * 3
+        height:                     _guidedModeBar.height
         visible:                    false
         z:                          QGroundControl.zOrderWidgets
 

src/Joystick/JoystickManager.h

@@ -20,8 +20,6 @@
 
 Q_DECLARE_LOGGING_CATEGORY(JoystickManagerLog)
 
-class QGCApplicaiton;
-
 class JoystickManager : public QGCTool
 {
     Q_OBJECT

src/QmlControls/QGCButton.qml

@@ -7,8 +7,8 @@ import QGroundControl.Palette 1.0
 import QGroundControl.ScreenTools 1.0
 
 Button {
-
     property bool primary:      false                               ///< primary button for a group of buttons
+    property real pointSize:    ScreenTools.defaultFontPointSize    ///< Point size for button text
 
     property var    _qgcPal:            QGCPalette { colorGroupEnabled: enabled }
     property bool   _showHighlight:     (pressed | hovered | checked) && !__forceHoverOff
@@ -102,7 +102,7 @@ Button {
                         id:             text
                         antialiasing:   true
                         text:           control.text
-                        font.pointSize: ScreenTools.defaultFontPointSize
+                        font.pointSize: pointSize
                         font.family:    ScreenTools.normalFontFamily
                         anchors.verticalCenter: parent.verticalCenter
                         color: _showHighlight ?

src/QmlControls/SliderSwitch.qml

@@ -26,6 +26,7 @@ Rectangle {
         id:                         label
         anchors.horizontalCenter:   parent.horizontalCenter
         anchors.verticalCenter:     parent.verticalCenter
+        font.pointSize:             ScreenTools.largeFontPointSize
         text:                       qsTr("Slide to %1").arg(confirmText)
     }
 

src/Vehicle/Vehicle.cc

@@ -1057,7 +1057,10 @@ void Vehicle::_loadSettings(void)
         _joystickMode = JoystickModeRC;
     }
 
+    // Joystick enabled is a global setting so first make sure there are any joysticks connected
+    if (qgcApp()->toolbox()->joystickManager()->joysticks().count()) {
         _joystickEnabled = settings.value(_joystickEnabledSettingsKey, false).toBool();
+    }
 }
 
 void Vehicle::_saveSettings(void)

src/VehicleSetup/FirmwareUpgrade.qml

@@ -245,7 +245,8 @@ QGCView {
 
                 QGCComboBox {
                     id:             vehicleTypeSelectionCombo
-                    width:      200
+                    anchors.left:   parent.left
+                    anchors.right:  parent.right
                     visible:        apmFlightStack.checked
                     model:          controller.apmAvailableVersions
                 }
@@ -291,7 +292,8 @@ QGCView {
 
                 QGCComboBox {
                     id:             firmwareVersionCombo
-                    width:          200
+                    anchors.left:   parent.left
+                    anchors.right:  parent.right
                     visible:        showFirmwareTypeSelection
                     model:          px4Flow ? px4FlowTypeList : firmwareTypeList
                     currentIndex:   controller.selectedFirmwareType

src/ui/toolbar/MainToolBarIndicators.qml

@@ -173,7 +173,7 @@ Row {
             visible:            activeVehicle && !isNaN(activeVehicle.gps.hdop.value)
             font.pointSize:     ScreenTools.smallFontPointSize
             color:              qgcPal.buttonText
-            text:               activeVehicle ? activeVehicle.gps.hdop.value.toFixed(0) : ""
+            text:               activeVehicle ? activeVehicle.gps.hdop.value.toFixed(1) : ""
         }
         MouseArea {
             anchors.fill:   parent